针对船舶永磁同步电机推进系统的转动惯量和负载转矩存在扰动的问题，提出基于梯度校正法与扩展卡尔曼滤波器结合的在线惯量辨识算法，采用梯度校正法对转动惯量进行辨识，利用扩展卡尔曼滤波器观测负载转矩，辨识的惯量值对滤波器的系数矩阵进行修正，同时观测的负载转矩作为梯度校正法的输入参数以及作为电流环的前馈补偿。仿真和实验验证了惯量辨识算法的可行性，以及系统对于负载转矩变化的抗扰动性能。
The moment of inertia and load torque of Marine permanent magnet synchronous motor propulsion system are disturbed. To solve the above problems, an online inertia identification algorithm based on the combination of gradient correction method and extended Kalman filter is proposed. The gradient correction method is used to identify the moment of inertia, and the extended Kalman filter is used to observe the load torque, and the identified inertia value is used to correct the coefficient matrix of the filter. The observed load torque is used as input parameter of gradient correction method and feedforward compensation of current loop. Simulation and experiments verify the feasibility of the inertia identification algorithm and the anti-disturbance performance of the system for load torque variation.
2024,46(5): 103-108 收稿日期：2022-09-26
DOI：10.3404/j.issn.1672-7649.2024.05.019
分类号：U664.14
作者简介：戴磊(1996-),男,硕士研究生,研究方向为电机控制
参考文献：
[1] TAMI R, BOUTAT D, ZHENG G, et al. Rotor speed, load torque and parameters estimations of a permanent magnet synchronous motor using extended observer forms[J]. IET Control Theory & Applications, 2017, 11(9): 1485–1492
[2] 王璨, 杨明, 栾添瑞, 等. 双惯量弹性伺服系统外部机械参数辨识综述[J]. 中国电机工程学报, 2016, 36(3): 804–817.
[3] 吴春, 郑露华, 支恩. 基于三角函数正交特性的永磁伺服系统机械参数辨识方法[J]. 中国电机工程报, 2022, 42(4): 1617–1625.
[4] KIM S. Moment of inertia and friction torque coefficient identification in a servo drive system[J]. IEEE Transactions on Industrial Electronics, 2019, 66(1): 60–70
[5] 陈炜, 郭照升, 夏长亮, 等. 基于转动惯量辨识的交流伺服系统自适应扰动观测器设计[J]. 电工技术学报, 2016, 31(16): 3–4, 42.
[6] 荀倩, 王培良, 李祖欣, 等. 基于递推最小二乘法的永磁伺服系统参数辨识[J]. 电工技术学报, 2016, 31(17): 161–169
XUN Q, WANG P L, LI Z X, et al. Parameter identification of permanent magnet servo system based on recursive least square method[J]. Transactions of Electrical Technology, 2016, 31(17): 161–169
[7] 杨明, 屈婉莹, 陈扬洋, 等. 基于变周期递推最小二乘法与卡尔曼观测器的伺服系统在线惯量辨识[J]. 电工技术学报, 2018, 33(S2): 367–376.
[8] 侯利民, 徐越, 何佩宇, 等. 辨识转动惯量扰动观测器的PMSM滑模控制[J]. 电机与控制学报, 2020, 24(9): 165–172.
[9] 王少威, 万山明, 周理兵, 等. 利用蚁群算法辨识PMSM伺服系统负载转矩和转动惯量[J]. 电工技术学报, 2011, 26(6): 18–25.
[10] CHEN Yang yang, YANG, Ming, JIANG Long, et al. A moderate online servo controller parameter self-tuning method via variable period inertia identification. IEEE Transactions on power Electronics, 2019, 34(12), 12165–1180.
[11] 季画, 王爽, 黄苏融. 永磁同步电机转动惯量的自适应辨识方法研究[J]. 华中科技大学学报(自然科学版), 2015, 43-(S1): 122–126.
[12] NIU Li, XU Dian guo, YANG Ming, et al. On-line inertia identification algorithm for pi parameters optimization in speed loop[J]. IEE. E Transactions on Power Electronics, 2015, 30(2): 849–859
[13] 梁骄雁, 胡育文, 鲁文其. 基于梯度算法的永磁伺服系统惯量辨识性能研究[J]. 航空学报, 2011, 32(3): 488–496.
